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from __future__ import annotations

from typing import TYPE_CHECKING, Protocol, TypeVar, runtime_checkable

if TYPE_CHECKING:
    from uuid import UUID


@runtime_checkable
class ROSMessage(Protocol):
    """Protocol for ROS message types."""

    __slots__: list[str]
    _fields_and_field_types: dict[str, str]

    def get_fields_and_field_types(self) -> dict[str, str]:
        """Return a dictionary of field names to field types."""


@runtime_checkable
class ROSService(Protocol):
    """Protocol for ROS service types."""

    Request: type[ROSMessage]
    Response: type[ROSMessage]
    Event: type[ROSMessage]


@runtime_checkable
class ROSAction(Protocol):
    """Protocol for ROS action types."""

    Goal: type[ROSMessage]
    Result: type[ROSMessage]
    Feedback: type[ROSMessage]


# Type variables for ROS types
ROSMessageT = TypeVar("ROSMessageT", bound=ROSMessage)
ROSServiceT = TypeVar("ROSServiceT", bound=ROSService)
ROSServiceRequestT = TypeVar("ROSServiceRequestT", bound=ROSMessage)
ROSServiceResponseT = TypeVar("ROSServiceResponseT", bound=ROSMessage)
ROSActionT = TypeVar("ROSActionT", bound=ROSAction)
ROSActionGoalT = TypeVar("ROSActionGoalT", bound=ROSMessage)
ROSActionResultT = TypeVar("ROSActionResultT", bound=ROSMessage)
ROSActionFeedbackT = TypeVar("ROSActionFeedbackT", bound=ROSMessage)


# Backports of rclpy types for type checking


class GetResultServiceResponse(ROSMessage, Protocol[ROSActionResultT]):
    status: int
    result: ROSActionResultT


class FeedbackMessage(ROSMessage, Protocol[ROSActionFeedbackT]):
    goal_id: UUID
    feedback: ROSActionFeedbackT
